Pub Date : 2025-12-10DOI: 10.1016/j.mechatronics.2025.103447
Ryutaro Tokuyama, Takenori Atsumi
Hard disk drives (HDDs) are essential for large-scale data management in modern AI-oriented server infrastructures. This paper proposes a novel control strategy to improve the precision of magnetic-head positioning. The core of our methodology is a frequency-domain framework, the Robust Controller Bode (RCBode) plot, which provides an intuitive platform for loop-shaping filter design based on classical control theory. We further generalize this method to address Dual-Input Single-Output (DISO) configurations, specifically for the dual-stage actuator architectures in HDDs. The performance of the proposed control scheme was validated through benchmark scenarios, demonstrating a strong correlation with empirical data and confirming its effectiveness and practical utility.
{"title":"RCBode plot-based controller design for dual-stage actuators in HDDs","authors":"Ryutaro Tokuyama, Takenori Atsumi","doi":"10.1016/j.mechatronics.2025.103447","DOIUrl":"10.1016/j.mechatronics.2025.103447","url":null,"abstract":"<div><div>Hard disk drives (HDDs) are essential for large-scale data management in modern AI-oriented server infrastructures. This paper proposes a novel control strategy to improve the precision of magnetic-head positioning. The core of our methodology is a frequency-domain framework, the Robust Controller Bode (RCBode) plot, which provides an intuitive platform for loop-shaping filter design based on classical control theory. We further generalize this method to address Dual-Input Single-Output (DISO) configurations, specifically for the dual-stage actuator architectures in HDDs. The performance of the proposed control scheme was validated through benchmark scenarios, demonstrating a strong correlation with empirical data and confirming its effectiveness and practical utility.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"114 ","pages":"Article 103447"},"PeriodicalIF":3.1,"publicationDate":"2025-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145737236","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-02DOI: 10.1016/j.mechatronics.2025.103438
Bo You , Haiyu She , Jiayu Li , Chen Chen
This study proposes an integrated path-planning framework for fault-tolerant hexapod robots navigating unstructured environments, addressing challenges posed by leg joint failures. The framework combines an enhanced A* algorithm with an adaptive Dynamic Window Approach (DWA) to improve navigation robustness. The A* algorithm incorporates a hazard-based model assessing terrain features like slopes, obstacles, and trenches, optimizing global paths by refining heuristic functions and minimizing path complexity to ensure safety and efficiency. The adaptive DWA dynamically adjusts local trajectories, balancing goal alignment, obstacle avoidance, stability, and energy efficiency through fault-specific evaluations, with weights tuned for optimal performance. Simulations and physical experiments demonstrate that the approach outperforms conventional methods, producing smoother, safer paths and enhancing stability across diverse terrains, even under fault conditions. This framework provides innovative solutions for reliable navigation in complex environments, offering significant potential for applications in search and rescue operations and extraterrestrial exploration, where adaptability and fault tolerance are critical for mission success.
{"title":"Hazard-constrained global-local path planning for fault-tolerant hexapod robots on unstructured terrain","authors":"Bo You , Haiyu She , Jiayu Li , Chen Chen","doi":"10.1016/j.mechatronics.2025.103438","DOIUrl":"10.1016/j.mechatronics.2025.103438","url":null,"abstract":"<div><div>This study proposes an integrated path-planning framework for fault-tolerant hexapod robots navigating unstructured environments, addressing challenges posed by leg joint failures. The framework combines an enhanced A* algorithm with an adaptive Dynamic Window Approach (DWA) to improve navigation robustness. The A* algorithm incorporates a hazard-based model assessing terrain features like slopes, obstacles, and trenches, optimizing global paths by refining heuristic functions and minimizing path complexity to ensure safety and efficiency. The adaptive DWA dynamically adjusts local trajectories, balancing goal alignment, obstacle avoidance, stability, and energy efficiency through fault-specific evaluations, with weights tuned for optimal performance. Simulations and physical experiments demonstrate that the approach outperforms conventional methods, producing smoother, safer paths and enhancing stability across diverse terrains, even under fault conditions. This framework provides innovative solutions for reliable navigation in complex environments, offering significant potential for applications in search and rescue operations and extraterrestrial exploration, where adaptability and fault tolerance are critical for mission success.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"114 ","pages":"Article 103438"},"PeriodicalIF":3.1,"publicationDate":"2025-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145685366","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-27DOI: 10.1016/j.mechatronics.2025.103437
Linkang Wang , Bai Chen , Tianzuo Chang , Jiafeng Yao , Hongtao Wu , Shuo Ding
Piezoelectric-driven XY compliant micro-positioning stages (XY-CMPSs) are widely employed in nanopositioning applications. However, existing designs face significant challenges in simultaneously achieving low geometric nonlinearity and a large workspace. This paper presents a novel XY-CMPS designed to overcome these limitations through a planar arrangement of multi-stage parallelogram mechanisms. To analyze the performance characteristics of the proposed stage, an amplification ratio model that accounts for both driving load and external equivalent load was established using the chain-based compliance matrix method (CCMM). On this basis, kinetostatic and dynamic analysis models were developed. The design parameters were optimized via a multi-objective optimization approach. Finite element analysis (FEA) results indicate that the proposed design reduces geometric nonlinearity by 62.35 % while achieving a larger workspace. Experimental evaluations on an XY-CMPS prototype demonstrated a workspace of 214.84 × 218.65 μm². The measured force-displacement relationship remains linear with a relative error below 3.17 %, confirming low geometric nonlinearity. The parasitic displacement was measured to be <2.5 μm (1.20 %). Furthermore, a motion tracking accuracy of up to 98.92 % was attained, which is attributed to the high natural frequency of approximately 210 Hz.
{"title":"Design and control of a novel XY compliant micro-positioning stage with low geometric nonlinearity and large workspace","authors":"Linkang Wang , Bai Chen , Tianzuo Chang , Jiafeng Yao , Hongtao Wu , Shuo Ding","doi":"10.1016/j.mechatronics.2025.103437","DOIUrl":"10.1016/j.mechatronics.2025.103437","url":null,"abstract":"<div><div>Piezoelectric-driven XY compliant micro-positioning stages (XY-CMPSs) are widely employed in nanopositioning applications. However, existing designs face significant challenges in simultaneously achieving low geometric nonlinearity and a large workspace. This paper presents a novel XY-CMPS designed to overcome these limitations through a planar arrangement of multi-stage parallelogram mechanisms. To analyze the performance characteristics of the proposed stage, an amplification ratio model that accounts for both driving load and external equivalent load was established using the chain-based compliance matrix method (CCMM). On this basis, kinetostatic and dynamic analysis models were developed. The design parameters were optimized via a multi-objective optimization approach. Finite element analysis (FEA) results indicate that the proposed design reduces geometric nonlinearity by 62.35 % while achieving a larger workspace. Experimental evaluations on an XY-CMPS prototype demonstrated a workspace of 214.84 × 218.65 μm². The measured force-displacement relationship remains linear with a relative error below 3.17 %, confirming low geometric nonlinearity. The parasitic displacement was measured to be <2.5 μm (1.20 %). Furthermore, a motion tracking accuracy of up to 98.92 % was attained, which is attributed to the high natural frequency of approximately 210 Hz.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"114 ","pages":"Article 103437"},"PeriodicalIF":3.1,"publicationDate":"2025-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145600396","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-22DOI: 10.1016/j.mechatronics.2025.103427
Jian Xiong , Longwei Fan , Dayong Yang , Pengwen Xiong , Jie Lu , Weisheng Zhong
Visual SLAM algorithms suffer from errors in dynamic scenes due to interference from dynamic objects, leading to significant degradation in system accuracy. Existing deep learning-based methods for removing feature points of dynamic objects focus solely on actively moving objects with prior information, neglecting the dynamic characteristics of passive objects. To address this issue, we propose the concept of dynamic attribute recognition based on active–passive relationships; starting from the correlation between objects, we determine the dynamic attributes of passive objects based on the dynamic attributes of active objects. Building upon this, we propose a visual SLAM algorithm based on dynamic attribute recognition. First, YOLO is employed for object detection to identify the semantic information of objects and obtain their positional information. Then, the Euclidean distance is used to determine the affiliation between active and passive objects. Specifically, if the active object is a person, the Euclidean distance between the passive object and the hand keypoints determines their affiliation. Simultaneously, the Lucas-Kanade optical flow method and RANSAC are used to further assist in determining the dynamic attributes of both active and passive objects. Finally, feature points within the regions occupied by active and passive objects identified as dynamic are either removed or their weights are reduced, relying on static feature points to achieve camera pose estimation. Experimental results demonstrate that our algorithm reduces both the Absolute Trajectory Error (ATE) and Relative Pose Error (RPE) by over 90% compared to the original ORB-SLAM2 on high-dynamic sequences of the TUM dataset. Compared to similar algorithms such as DS-SLAM and Dyna-SLAM, our method exhibits superior accuracy and robustness in dynamic scenes containing both active and passive objects, with the tracking thread processing each frame in an average of only 29.36 ms. Our approach significantly enhances both the accuracy and real-time performance of SLAM algorithms in dynamic scenes.
{"title":"Visual SLAM algorithm based on dynamic attribute recognition in dynamic scenes","authors":"Jian Xiong , Longwei Fan , Dayong Yang , Pengwen Xiong , Jie Lu , Weisheng Zhong","doi":"10.1016/j.mechatronics.2025.103427","DOIUrl":"10.1016/j.mechatronics.2025.103427","url":null,"abstract":"<div><div>Visual SLAM algorithms suffer from errors in dynamic scenes due to interference from dynamic objects, leading to significant degradation in system accuracy. Existing deep learning-based methods for removing feature points of dynamic objects focus solely on actively moving objects with prior information, neglecting the dynamic characteristics of passive objects. To address this issue, we propose the concept of dynamic attribute recognition based on active–passive relationships; starting from the correlation between objects, we determine the dynamic attributes of passive objects based on the dynamic attributes of active objects. Building upon this, we propose a visual SLAM algorithm based on dynamic attribute recognition. First, YOLO is employed for object detection to identify the semantic information of objects and obtain their positional information. Then, the Euclidean distance is used to determine the affiliation between active and passive objects. Specifically, if the active object is a person, the Euclidean distance between the passive object and the hand keypoints determines their affiliation. Simultaneously, the Lucas-Kanade optical flow method and RANSAC are used to further assist in determining the dynamic attributes of both active and passive objects. Finally, feature points within the regions occupied by active and passive objects identified as dynamic are either removed or their weights are reduced, relying on static feature points to achieve camera pose estimation. Experimental results demonstrate that our algorithm reduces both the Absolute Trajectory Error (ATE) and Relative Pose Error (RPE) by over 90% compared to the original ORB-SLAM2 on high-dynamic sequences of the TUM dataset. Compared to similar algorithms such as DS-SLAM and Dyna-SLAM, our method exhibits superior accuracy and robustness in dynamic scenes containing both active and passive objects, with the tracking thread processing each frame in an average of only 29.36 ms. Our approach significantly enhances both the accuracy and real-time performance of SLAM algorithms in dynamic scenes.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"113 ","pages":"Article 103427"},"PeriodicalIF":3.1,"publicationDate":"2025-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145579344","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-22DOI: 10.1016/j.mechatronics.2025.103428
A. Pawluchin , T.-L. Habich , T. Seel , I. Boblan
Pressure control forms the foundation for operating soft pneumatic actuators (SPAs). For effective motion or force control, however, the underlying pressure control must be both fast and accurate. This can be achieved either by placing the valve close to the actuator or by compensating for long pneumatic tubes through dynamic modeling. Tube compensation, however, is complex and difficult to implement, while direct valve mounting is often impractical because conventional proportional valves are large and heavy.
To overcome these limitations, a compact, custom-designed 3/3-valve unit (CVU) based on Festo’s VEAE piezoelectric valves is developed. The CVU supports pressures up to 6 bar, flow rates up to 70 l/min and control bandwidths exceeding 9 Hz. It is controlled using the presented data-driven approach, which eliminates the need for classical system identification and automatically adapts to different actuator volumes, resulting in high accuracy and simple deployment.
The control scheme employs a two-stage, data-driven architecture based on single-shot Gaussian process (GP) regression. First, the inverse static flow characteristics of each valve are modeled, compensating for valve-to-valve variability without manual mass-flow identification. Second, the CVU is adapted to the actuator’s state-dependent volume, improving accuracy and robustness to external disturbances. In both stages, only the pressure derivative is used, avoiding the need for additional flow sensors or external test benches and keeping the approach lightweight and low-cost. The CVU with the data-driven control method was validated on an antagonistic pneumatic arm with pneumatic artificial muscles (PAMs) and benchmarked against a manually tuned PID controller, a feedback-linearized controller based on analytical system inversion and a commercially available VEAB valve unit. Across all tests, the CVU with GP-based control achieved highly accurate pressure tracking and disturbance rejection. All hardware (CAD) and development code (m-code) are released as open source.
{"title":"Data-driven pressure controller using proportional piezoelectric valves for soft pneumatic actuators","authors":"A. Pawluchin , T.-L. Habich , T. Seel , I. Boblan","doi":"10.1016/j.mechatronics.2025.103428","DOIUrl":"10.1016/j.mechatronics.2025.103428","url":null,"abstract":"<div><div>Pressure control forms the foundation for operating soft pneumatic actuators (SPAs). For effective motion or force control, however, the underlying pressure control must be both fast and accurate. This can be achieved either by placing the valve close to the actuator or by compensating for long pneumatic tubes through dynamic modeling. Tube compensation, however, is complex and difficult to implement, while direct valve mounting is often impractical because conventional proportional valves are large and heavy.</div><div>To overcome these limitations, a compact, custom-designed 3/3-valve unit (CVU) based on Festo’s VEAE piezoelectric valves is developed. The CVU supports pressures up to 6<!--> <!-->bar, flow rates up to 70<!--> <!-->l/min and control bandwidths exceeding 9<!--> <!-->Hz. It is controlled using the presented data-driven approach, which eliminates the need for classical system identification and automatically adapts to different actuator volumes, resulting in high accuracy and simple deployment.</div><div>The control scheme employs a two-stage, data-driven architecture based on single-shot Gaussian process (GP) regression. First, the inverse static flow characteristics of each valve are modeled, compensating for valve-to-valve variability without manual mass-flow identification. Second, the CVU is adapted to the actuator’s state-dependent volume, improving accuracy and robustness to external disturbances. In both stages, only the pressure derivative is used, avoiding the need for additional flow sensors or external test benches and keeping the approach lightweight and low-cost. The CVU with the data-driven control method was validated on an antagonistic pneumatic arm with pneumatic artificial muscles (PAMs) and benchmarked against a manually tuned PID controller, a feedback-linearized controller based on analytical system inversion and a commercially available VEAB valve unit. Across all tests, the CVU with GP-based control achieved highly accurate pressure tracking and disturbance rejection. All hardware (CAD) and development code (m-code) are released as open source.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"113 ","pages":"Article 103428"},"PeriodicalIF":3.1,"publicationDate":"2025-11-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145624184","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-21DOI: 10.1016/j.mechatronics.2025.103426
Ferhat Kaya , Caglar Conker
This manuscript addresses the problem of designing a robust input shaper capable of suppressing residual vibrations in flexible robotic and mechanical systems under modeling errors and parameter uncertainties, while also providing smooth reference commands.The proposed approach integrates Cycloid, Ramped Versine and Ramp (CPRVPR) functions with Zero Vibration (ZV, ZVD, and ZVDD) input shapers, optimizing their parameters using the Vibrating Particle System (VPS) Algorithm. Furthermore, the study proposes a novel multi-objective function that accounts for critical parameters of input shaping techniques in flexible robotic systems and the robustness constraints of Extra-Insensitive input shapers. The theoretical outcomes of the proposed command shaping approaches were experimentally validated through their application to a linear crane system. The effectiveness of the three proposed methods was demonstrated by comparing them against fifteen well-known input shaping techniques. The novel intelligent command shaping design was shown to effectively mitigate or eliminate residual vibrations in flexible systems, even under high levels of uncertainty.
{"title":"Design and multi-objective optimization of a novel robust command shaping technique for the tolerable level of residual vibration","authors":"Ferhat Kaya , Caglar Conker","doi":"10.1016/j.mechatronics.2025.103426","DOIUrl":"10.1016/j.mechatronics.2025.103426","url":null,"abstract":"<div><div>This manuscript addresses the problem of designing a robust input shaper capable of suppressing residual vibrations in flexible robotic and mechanical systems under modeling errors and parameter uncertainties, while also providing smooth reference commands<em>.</em>The proposed approach integrates Cycloid, Ramped Versine and Ramp (CPRVPR) functions with Zero Vibration (ZV, ZVD, and ZVDD) input shapers, optimizing their parameters using the Vibrating Particle System (VPS) Algorithm. Furthermore, the study proposes a novel multi-objective function that accounts for critical parameters of input shaping techniques in flexible robotic systems and the robustness constraints of Extra-Insensitive input shapers. The theoretical outcomes of the proposed command shaping approaches were experimentally validated through their application to a linear crane system. The effectiveness of the three proposed methods was demonstrated by comparing them against fifteen well-known input shaping techniques. The novel intelligent command shaping design was shown to effectively mitigate or eliminate residual vibrations in flexible systems, even under high levels of uncertainty.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"113 ","pages":"Article 103426"},"PeriodicalIF":3.1,"publicationDate":"2025-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145579355","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The autonomous ground vehicles (AGVs) are expected to reliably track a planned path with high-accuracy in a wide variety of industry and civilian applications. Pure pursuit is widely used to solve this problem. However, most of the existing pure pursuit methods have the cutting-corner problem which results in poor path tracking performance when there are sharp turns. In this article, we learn from how the human drivers look ahead when they drive the vehicle to follow a road and propose the concept of path projected area for the first time which is similar to the driver perspective. An adaptive pure pursuit path tracking control method based on projected area is developed for AGVs, named PA-PP. First, a look-ahead distance is selected based on the predefined threshold of the path projected area in the method. Then, the velocity allocation method is introduced which also takes into account the path projected area. The optimal control command is generated through an adaptive controller. We verify the effectiveness of the PA-PP method in simulation and vehicle tests by comparing the performance of it with other three pure pursuit methods. The results show that the PA-PP method can not only improve the tracking robustness while the vehicle enters a turn, but also can result in a reduction of cumulative path tracking errors by nearly 31.09% in simulation test and 21.02% in vehicle experiment comparing to those of the classic pure pursuit algorithms.
{"title":"Driver perspective inspired pure pursuit path tracking control method for autonomous ground vehicles","authors":"Haojie Zhang , Rongmin Liang , Feng Jiang , Qing Li","doi":"10.1016/j.mechatronics.2025.103424","DOIUrl":"10.1016/j.mechatronics.2025.103424","url":null,"abstract":"<div><div>The autonomous ground vehicles (AGVs) are expected to reliably track a planned path with high-accuracy in a wide variety of industry and civilian applications. Pure pursuit is widely used to solve this problem. However, most of the existing pure pursuit methods have the cutting-corner problem which results in poor path tracking performance when there are sharp turns. In this article, we learn from how the human drivers look ahead when they drive the vehicle to follow a road and propose the concept of path projected area for the first time which is similar to the driver perspective. An adaptive pure pursuit path tracking control method based on projected area is developed for AGVs, named PA-PP. First, a look-ahead distance is selected based on the predefined threshold of the path projected area in the method. Then, the velocity allocation method is introduced which also takes into account the path projected area. The optimal control command is generated through an adaptive controller. We verify the effectiveness of the PA-PP method in simulation and vehicle tests by comparing the performance of it with other three pure pursuit methods. The results show that the PA-PP method can not only improve the tracking robustness while the vehicle enters a turn, but also can result in a reduction of cumulative path tracking errors by nearly 31.09% in simulation test and 21.02% in vehicle experiment comparing to those of the classic pure pursuit algorithms.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"113 ","pages":"Article 103424"},"PeriodicalIF":3.1,"publicationDate":"2025-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145579365","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-20DOI: 10.1016/j.mechatronics.2025.103430
Fernando Zolubas Preto , Bruno Augusto Angélico , Evandro Leonardo Silva Teixeira , João Francisco Justo
This work proposes a unification of safety-proven control laws with modeling-free approaches, with a primary focus on handling complex applications. The proposed control law is an Ultra-Local Sliding-Mode Control (ULSMC) with Control Barrier Function (CBF) that is a combination capable of ensuring safety and robustness using minimal phenomenological modeling. This approach is used to design an Adaptive Cruise Control (ACC) system that has successfully accomplished some of the most challenging Euro NCAP Tests in a Hardware-In-the-Loop platform, using a realistic vehicular simulator. Moreover, a cubic per part condition is developed on the time derivative of the CBF, allowing the CBF safety filter to dynamically arbitrate between prioritizing safety, performance, or safety-recoverability according to the safety level measured by the CBF function. In particular, safety-recoverability is verified through simulations of realistic hazardous scenarios caused by external vehicles on the road. Furthermore, a modified headway-time-based CBF is developed to address ACC operation under complete stop scenarios. The robustness of the ULSMC control is shown to be essential to ensure ACC performance requirements when adopting an almost modeling-free approach.
{"title":"Ultra-Local Sliding Mode Control with Control Barrier Functions: A Framework for Adaptive Cruise Control","authors":"Fernando Zolubas Preto , Bruno Augusto Angélico , Evandro Leonardo Silva Teixeira , João Francisco Justo","doi":"10.1016/j.mechatronics.2025.103430","DOIUrl":"10.1016/j.mechatronics.2025.103430","url":null,"abstract":"<div><div>This work proposes a unification of safety-proven control laws with modeling-free approaches, with a primary focus on handling complex applications. The proposed control law is an Ultra-Local Sliding-Mode Control (ULSMC) with Control Barrier Function (CBF) that is a combination capable of ensuring safety and robustness using minimal phenomenological modeling. This approach is used to design an Adaptive Cruise Control (ACC) system that has successfully accomplished some of the most challenging Euro NCAP Tests in a Hardware-In-the-Loop platform, using a realistic vehicular simulator. Moreover, a cubic per part condition is developed on the time derivative of the CBF, allowing the CBF safety filter to dynamically arbitrate between prioritizing safety, performance, or safety-recoverability according to the safety level measured by the CBF function. In particular, safety-recoverability is verified through simulations of realistic hazardous scenarios caused by external vehicles on the road. Furthermore, a modified headway-time-based CBF is developed to address ACC operation under complete stop scenarios. The robustness of the ULSMC control is shown to be essential to ensure ACC performance requirements when adopting an almost modeling-free approach.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"113 ","pages":"Article 103430"},"PeriodicalIF":3.1,"publicationDate":"2025-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145579342","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-12DOI: 10.1016/j.mechatronics.2025.103425
R. Krishna , G.R. Jayanth
Voice coil motors are excellent for actuating nanopositioners owing to their simplicity and stability, but possess large footprint relative to their range, and also require trading off between their range and speed. This paper reports a compact, large range voice-coil motor based nanopositioner which avoids trading off between range and speed. The large range is achieved by means of an optimally designed magnetic preloading system that loads the mechanical suspension close to its first buckling mode and thereby greatly reduces its mechanical stiffness. A planar electromagnetic actuator is proposed, and is shown to enable independent control of electromagnetic force and local stiffness, which together also trading off between range and speed. Analytical models are proposed for both these systems, validated using numerical simulations, and subsequently experimentally realized. The actuation range of over 3 mm is experimentally achieved, representing a 5.76 fold improvement compared to a conventional compliant suspension. A 3.4 times speed improvement is demonstrated owing to the high magnetic trapping stiffness as compared to the case without it. Feedback control of the stage has also been performed and demonstrated to enable accurately tracking diverse waveforms. A large range-to-footprint ratio of 1:10 is achieved. The positioner is demonstrated to follow 40 nm step increments with a noise of 2.34 nm RMS.
{"title":"An electromagnetically actuated large-range nanopositioner with integrated magnetic preloading","authors":"R. Krishna , G.R. Jayanth","doi":"10.1016/j.mechatronics.2025.103425","DOIUrl":"10.1016/j.mechatronics.2025.103425","url":null,"abstract":"<div><div>Voice coil motors are excellent for actuating nanopositioners owing to their simplicity and stability, but possess large footprint relative to their range, and also require trading off between their range and speed. This paper reports a compact, large range voice-coil motor based nanopositioner which avoids trading off between range and speed. The large range is achieved by means of an optimally designed magnetic preloading system that loads the mechanical suspension close to its first buckling mode and thereby greatly reduces its mechanical stiffness. A planar electromagnetic actuator is proposed, and is shown to enable independent control of electromagnetic force and local stiffness, which together also trading off between range and speed. Analytical models are proposed for both these systems, validated using numerical simulations, and subsequently experimentally realized. The actuation range of over 3 mm is experimentally achieved, representing a 5.76 fold improvement compared to a conventional compliant suspension. A 3.4 times speed improvement is demonstrated owing to the high magnetic trapping stiffness as compared to the case without it. Feedback control of the stage has also been performed and demonstrated to enable accurately tracking diverse waveforms. A large range-to-footprint ratio of 1:10 is achieved. The positioner is demonstrated to follow 40 nm step increments with a noise of 2.34 nm RMS.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"113 ","pages":"Article 103425"},"PeriodicalIF":3.1,"publicationDate":"2025-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145529173","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-12DOI: 10.1016/j.mechatronics.2025.103429
Jiahua Ma , Wenxiang Deng , Wei Chen , Jian Hu , Jianyong Yao
This paper proposes a fixed-time adaptive sliding mode momentum observer (FTASMMO) to improve external torque estimation in robotic manipulators interacting with the environment, without the need for torque sensors, thus enabling effective collision detection. Specifically, the proposed observer integrates fixed-time stability with generalized momentum, ensuring that the estimation error of external torques remains fixed-time stable. An adaptive law is introduced to effectively handle time-varying external torques with unknown upper bounds, while reducing conservatism in gain selection. The observer also employs a smooth tanh function in place of a sign function to reduce estimation chattering and improve observation accuracy. Additionally, Lyapunov analysis is employed to demonstrate the fixed-time stability of the observer. Simulation and experiments with a 7-degree-of-freedom collaborative robot demonstrate that the proposed observer significantly improves the speed and accuracy of torque estimation compared to existing methods.
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